CLEARPATH Turtlebot4 - Page 35

ros2 launch turtlebot4_navigation nav_bringup.launch.py localization:=true slam:=off
map:=/path/to/map.yaml
TurtleBot 4 Navigator
The TurtleBot 4 Navigator is a Python node that adds TurtleBot 4 specific functionality to the
Nav2 Simple Commander. It provides a set of Python methods for navigating the TurtleBot 4.
This includes docking, navigating to a pose, following waypoints, and more. Visit the Navigation
Tutorials for examples.
Node
The turtlebot4_node package contains the source code for the rclcpp node turtlebot4_node that
controls the robots HMI as well as other logic. This node is used by both the physical robot and
the simulated robot.
Publishers:
● /hmi/display: turtlebot4_msgs/msg/UserDisplay
○ description: The current information that is to be displayed (TurtleBot 4 model
only).
● /ip: std_msgs/msg/String
○ description: The IP address of the Wi-Fi interface.
Subscribers:
● /battery_state: sensor_msgs/msg/BatteryState
○ description: Current battery state of the Create® 3.
● /hmi/buttons: turtlebot4_msgs/msg/UserButton
○ description: Button states of the TurtleBot 4 HMI (TurtleBot 4 model only).
● /hmi/display/message: std_msgs/msg/String
○ description: User topic to print custom message to display (TurtleBot 4 model
only).
● /hmi/led: turtlebot4_msgs/msg/UserLed
○ description: User topic to control User LED 1 and 2 (TurtleBot 4 model only).
● /interface_buttons: irobot_create_msgs/msg/InterfaceButtons
○ description: Button states of Create® 3 buttons.
● /joy: sensor_msgs/msg/Joy
○ description: Bluetooth controller button states (TurtleBot 4 model only).
● /wheel_status: irobot_create_msgs/msg/WheelStatus
○ description: Wheel status reported by Create® 3.
Service Clients:
● /e_stop: irobot_create_msgs/srv/EStop